DE102016119348A1 - Stereometric object flow interaction - Google Patents

Abstract

An apparatus (100) for object flow interaction with respect to an object (102), the apparatus (100) including an image capture device (72) arranged to capture at least two images of the object (102) from at least two different perspectives, and a stereometric recognition device (17) adapted to detect object flow interaction based on the at least two captured images and by stereometry.

Description

The invention relates to a device and a control method and an arrangement.

Various methods for detecting three-dimensional objects are known. In one of them, the three-dimensional recognition is made possible by means of a light grid projected onto the object. Here, however, the light grid (structured light) is a necessity for three-dimensional sensor technology, since only one camera is used and the system without light grid offers no three-dimensional sensor technology. A typical procedure from this environment is the fringe projection.

In general, therefore, the monitoring of objects in a simple and error-proof manner may be desirable. For example, conventional monitoring systems rely on time-of-flight (TOF) measurements of light, which is cumbersome, energy-intensive, and error-prone. TOF denotes the transit time measurement of a light beam.

Various methods for object flow interaction (for example, person flow control in football stadiums) are also known. Simple methods are based on photoelectric barriers. For example, the height of a vehicle when entering a parking zone affects the subsequent guidance. A lorry can be led into a non-elevation zone, whereas a car can be led into a height-limited parking garage. However, many of these systems are not tamper-proof.

It is an object of the present invention to make an object flow interaction tamper-proof.

This object is achieved by the subject matters according to the independent patent claims. Preferred embodiments will be apparent from the dependent claims.

According to one embodiment of the present invention, an apparatus for object flow interaction (that is, for observing and / or influencing a flow or movement of one or more objects in an interaction or monitoring volume) is provided with respect to an object (particularly a three-dimensional surface), wherein the device comprises an image capture device adapted to receive at least two images of the object from at least two different perspectives (in particular from at least two different spatial directions), and a stereometric recognition device for detecting information relating to the object flow interaction based on the at least two recorded images Images and stereometry is set up.

According to another embodiment of the present invention, there is provided a method of object flow interaction with respect to an object, wherein the method captures at least two images of the object from at least two different perspectives, and the information concerning object flow interaction based on the at least two captured images and determined by stereometry.

According to yet another exemplary embodiment of the present invention, an arrangement is provided that has an access structure with an opening to be passed through an object, at least one closure body for selectively at least partially opening or at least partially closing the opening and a device with the features described above for controlling a Covering characteristic of the opening by the at least one closure body based on the information concerning the object flow interaction.

In the context of the present application, the term "stereometry" is understood to mean an image evaluation method in three-dimensional space in which three-dimensional object information is derived by means of space-geometric methods. Corresponding measures of stereometry may include the calculation of the surface and / or the lateral surface and / or the volume of the object or of parts thereof.

In the context of the present application, the term "object" is understood in particular to mean any physical structure, in particular a movable or moving structure whose trajectory or behavior is to be detected. Examples of such an object are a person, a vehicle, a product (for example as part of a flow control in industrial production), a machine or a machine part.

In the context of this application, the term "coverage characteristic" can be understood in particular to mean the size of an opening area uncovered by the at least one closing body for allowing the object to pass, which shape has such an opening area and / or for which time interval such an opening area remains open.

In the context of this application, the term "object-adaptive" can in particular be understood to mean a criterion for configuring the opening of a passage (in particular only) so far or a little bit that an object passes through the opening can happen. Thus, the term object-adaptive stands in contrast to object-specific control systems, in which the opening is complete or up to a predetermined (or fixed) opening width.

In the context of this application, the term "closure body" can be understood in particular to mean a physical barrier which can be composed of one or more components in order to close off a partial area or the entire opening. The at least one closing body can be, for example, a barrier, a rigid door, a rigid door, a roller door, a roller shutter, etc., which can be moved horizontally and / or vertically, folded, foldable and / or rolled in or out can be trained.

According to an exemplary embodiment of the invention, there is provided a three-dimensional sensor system for object flow interaction (which term can be understood as generic term for measures for object flow control, object flow control and / or object flow monitoring) in which the 3D sensor system is based on stereometric models (for example triangulation by three-dimensional photogrammetry ). This device or this system can have at least one camera with at least one camera lens or at least two cameras. The 3D system (for example, for a 3D triangulation), in contrast to conventional time-of-flight systems and grid pattern scanners without emitting directional and / or position-relevant radiation work (thus purely passive, with optional non-specific basic lighting by an infrared flash or the like may be made possible). Thus, 3D sensing can advantageously be performed without performing elaborate and interference-prone or manipulation-prone transit time measurements of electromagnetic waves. Camera images from at least two different perspectives can be used for the stereometric method. The acquisition of multiple images of the object from different perspectives and the joint evaluation of these images by methods of stereometry allows tamper-proof and with little effort to obtain information about the object as the basis for an object flow control, object flow control or object flow monitoring.

In the following, additional embodiments of the device, the arrangement and the method will be described.

The term sensor used in the context of the present application relates in particular to optical sensor systems in the sensor wavelength range from 100 nm to 20 μm, which can be referred to as an extended visual spectrum. It is particularly preferred if the sensor system operates in the wavelength range from 100 nm to 10 μm.

According to one embodiment, the information concerning the object flow interaction may be selected from a group consisting of information concerning an object flow control, information concerning an object flow control, and information concerning an object flow control. Under object flow control is understood here in particular that a trajectory and / or a velocity profile of the object is influenced by tax measures. Object flow control is understood in particular to mean that the trajectory and / or the speed profile of the object is controlled. Under an object flow monitoring is accordingly understood in particular that a monitoring of the trajectory and / or the velocity profile of the object is performed. The respective information can therefore be, in particular, location information and / or orientation information and / or speed information and / or acceleration information relating to the object.

According to an embodiment, the recognizer may be configured to recognize the object by triangulation using three-dimensional photogrammetry. Thus, the one-dimensional sensor system may consider stereometric models that are preferably based on triangulation by three-dimensional photogrammetry.

According to one exemplary embodiment, the image recording device can have at least one camera with a camera optics multiplying a detection path or a plurality of cameras. A "camera optics multiplying a detection path" can be understood in particular as a number of optical paths, each of which directs a subarea of an object or other spatial area to be imaged onto a common camera (see FIG 2 ). A three-dimensional monitoring is thus also possible, for example, by means of a single camera, which can detect sub-images from different spatial areas and / or observation directions simultaneously using lenses, beam splitters, reflectors, etc. Alternatively, multiple cameras and / or at least one movable camera can be used to capture stereometric information. A stereometry system can also be realized with a pinhole camera without optics.

According to one embodiment, the device may be arranged Perform object flow interaction without emitting directional and / or positional radiation. This keeps the device and method simple and tamper-proof, as well as supporting the possibly desired camouflage of the device.

In one embodiment, the apparatus may further comprise an infrared emitting pulsed electromagnetic radiation source configured to illuminate the object with at least one infrared pulse. The emission of the infrared radiation, however, can be non-specific with regard to direction and position and can therefore be simple, tamper-proof and difficult to recognize for a user. The image recording device can be embodied as an infrared-sensitive image recording device in order, at least in part, to record the at least two images of the object to be monitored during the illumination with the at least one infrared pulse. In the context of the present application, the term "infrared" is understood to mean, in particular, non-visible electromagnetic radiation having wavelengths greater than that of visible light, in particular electromagnetic radiation having wavelengths of more than 800 nm, more particularly more than 1 μm, still more particularly between 800 nm and 1 mm. Cameras with sensitivity to infrared radiation that can be implemented according to exemplary embodiments of the invention can be body heat sensors in the low-frequency infrared range and normal cameras in the higher-frequency infrared range with (for example additional and / or not filtered-away) infrared radiation sensitivity at the infrared end of the visible light range. According to the described embodiment of the invention, a monitoring system for an object is provided in which one or more non-visible infrared pulses are emitted in order to temporarily illuminate the object to be monitored with infrared light. Due to the temporary illumination of the object, its recognizability on recorded infrared images with high quality can be made possible. Due to the mere pulsed operation of the infrared radiation source (in contrast to a permanent lighting), their operation is possible with low energy consumption. In addition, with the infrared-related monitoring arrangement, monitoring of an object can be weather-independent and discrete, as well as without disturbing the object (for example a driver of a vehicle) with visible additional light in its particularly safety-relevant activity. By illuminating the object with the infrared radiation, the brightness or contrast of the object on the images can also be improved. Overall, the monitoring system works fault-robust, low-energy and simple.

According to an exemplary embodiment, the image recording device can be set up to record the images in a wavelength range between 100 nm and 20 μm. The image recording device can thus operate optionally in the near ultraviolet, in the visible region or in the infrared region.

According to one exemplary embodiment, the device may have a communication device which is designed to communicate the information concerning the object flow interaction to a communication partner device. Thus, the system may pass the determined information (eg busy zone, busy escape route, motion alert, object sizes and object vectors, tagged tag identification information, etc.) to other systems. As a result, a distributed sensor network can be created with which even more complex rooms can be reliably monitored.

According to one exemplary embodiment, several cameras of the image recording device can be coupled in a communicable manner via a communication network, in particular web-based and / or cloud-based. Several cameras of the device can thus be connected via a communication network to a sensor system. It is preferred that this communication network is web-based. It is particularly preferred if the sensor system is cloud-based. By means of such communication, image recording periods and inactivity periods between the individual cameras can be harmonized or synchronized, for example as a function of a movement trajectory of an object. As a result, a movement of an object can be reconstructed with low energy consumption and nevertheless seamlessly. Such a distributed sensor network is also tamper-proof. This manipulation security can be additionally increased by redundant systems. This redundancy can also be achieved by a partial separation of the sensor areas of different systems, which, in addition to the increase in redundancy, can also lead to more precise object information (for example in the context of statistically combinatorial methods).

According to an embodiment, the communication network may be communicably coupled to another communication network of a plurality of other cameras and / or another recognizer for capturing images of another object or another object region of the same object, information about the object and about the other object or the other Combine object area combinatorial. Thus, at least two sensor systems or devices with the features described above can be interconnected so that they combinatorial events over at least two mutually independent or interconnected spatial Detect sensor areas (for example, to monitor two coming from different directions objects on a collision course, and possibly reversing at least one of the objects to prevent collision). It may be particularly preferred if the at least two sensor systems are installed on different sides of an opening to be passed. The two systems or devices can communicate via a common communication network, or via separate but interconnectable communication networks.

According to one embodiment, the device may include a predictor configured to predict future position information and / or future motion information regarding the object. Thus, the 3D sensor system can also make forecasts of object details. Predictable future parameters may be, in particular, a velocity vector, a movement pattern and / or a hidden volume. Particularly preferred may be that these predictions are used to control at least one closing body of an opening to be passed. When three-dimensional information (position information, orientation information, speed information, acceleration information, etc.) has been obtained about an object relating, for example, to a certain time, the apparatus can extrapolate into the future based on this information and make predictions about the probable statics or Kinemathek at a future date. This makes it possible to issue targeted control commands at an early stage or to take measures or to trigger events that relate to this probable development of the object.

According to one embodiment, the prediction means may be arranged to communicate the predicted information to assist in determining the object flow interaction related information to the recognizer. The result of applying a predictive model to information at a particular future-time point may thus also affect the control of the imaging device, thereby promoting the precision of the results and the efficient operation of the device.

According to one exemplary embodiment, the image recording device can have at least one camera with a photosensitivity of greater than 800 ISO. In particular, this makes it possible to compensate for a possible lack of light by objectives of a particularly small-dimensioned 3D sensor system due to the high sensitivity of the cameras used. Therefore, the use of cameras with a photosensitivity of greater than 800 ISO, particularly preferably greater than 3200 ISO, may be preferred.

According to one exemplary embodiment, the recognition device may be configured to determine at least one three-dimensional image of the object from the images recorded by means of the image recording device as the basis of the recognition of the information concerning the object flow interaction. Such steric information allows tamper-proof and precise object flow control, object flow control or object flow monitoring.

• – dem Auslösen eines Alarms, wenn das Objekt eine vorbestimmte Position belegt (zum Beispiel wenn ein Fahrzeug auf einer Sperrfläche parkt oder unbefugt und/oder in falscher Richtung in einen Sicherheitsbereich einfährt);
• – dem Auslösen eines Zählereignisses, wenn das Objekt eine Grenze passiert (zum Beispiel im Rahmen des Zählens von Fahrzeugen, die in ein Parkhaus einfahren oder daraus ausfahren, oder von Personen, die eine Barriere durchschreiten);
• – dem objektadaptiven Steuern einer Bedeckungscharakteristik einer von dem Objekt zu passierenden Öffnung durch mindestens einen Verschließkörper (zum Beispiel an einer Einfahrt in ein Gebäude);
• – dem Erfassen von Objektinformation beidseitig einer von dem Objekt zu passierenden Öffnung (zum Beispiel zum Vermeiden von Kollisionen von Objekten, insbesondere Fahrzeugen, die sich in entgegengesetzten Richtungen beidseitig der Öffnung bewegen);
• – dem Identifizieren eines Objektverhaltens (zum Beispiel Erkennen von Gesten eines Menschen, zum Beispiel in Form von Winken, wenn ein Mensch eine der Geste zugeordnete Bedeckungscharakteristik auslösen möchte)
• – dem Identifizieren des Objekts, insbesondere als Basis für einen Inhalt einer an das Objekt zu übermittelnden Kommunikationsnachricht (zum Beispiel das Identifizieren eines Fahrzeugs oder Menschen, um diesem gezielt Werbung zukommen zu lassen) und/oder als Basis für das Auslösen eines Alarms (zum Beispiel das Identifizieren eines verdächtigen Fahrzeugs anhand seiner detektierten Manöver oder das Identifizieren unbeaufsichtigten Gepäcks an einem Flughafen).

In one embodiment, the device may include an event triggering device configured to trigger at least one predetermined event based on the information concerning the object flow interaction. The at least one predetermined event may in particular be selected from a group consisting of:

• The triggering of an alarm when the object occupies a predetermined position (for example when a vehicle is parked on a restricted area or enters an area of security unauthorized and / or in the wrong direction);
• - the triggering of a counting event when the object passes a border (for example as part of the counting of vehicles entering or leaving a parking garage or of persons crossing a barrier);
• The object adaptive control of a coverage characteristic of an opening to be passed from the object by at least one closure body (for example at an entrance to a building);
• - Detecting object information on both sides of an opening to be passed by the object (for example, to avoid collisions of objects, in particular vehicles, which move in opposite directions on both sides of the opening);
• Identifying an object behavior (for example, recognizing gestures of a person, for example in the form of waving, if a human wants to trigger a coverage characteristic associated with the gesture)
• Identifying the object, in particular as a basis for a content of a communication message to be transmitted to the object (for example identifying a vehicle or a person in order to specifically deliver it to the object) and / or as the basis for triggering an alarm (for example identifying a suspicious vehicle based on its detected maneuvers or identifying unattended baggage at an airport).

In one embodiment, the stereometric recognizer may be configured to recognize at least one predetermined gesture of a human being as an object on at least one of the captured images and to trigger a predetermined event in response to the detected gesture. For example, access to a building can only be granted to a human being as an object who makes an appropriate gesture at the entrance. In this way, the triggering of a specific event can be made dependent on the knowledge of a gesture simply and intuitively as well as tamper-proof.

According to one exemplary embodiment, the image recording device can be camouflaged optically by means of a camouflage device. The tamper resistance of the device can be further improved if the location or presence of an image capture device is obscured. For example, a surface area of the camera not required for the detection process can be laminated with a covering body. It is also possible to use a privacy screen, with which the view from the object towards the camera is made more difficult.

According to one exemplary embodiment, the infrared-sensitive image recording device may be set up to monitor the images of the object to be monitored within at least one limited time interval (in particular within a plurality of temporally spaced time intervals) which may at least partially coincide with one or more phases of the illumination with the at least one infrared pulse take. The apparatus may further comprise a controller (which may be configured, for example, as a processor) that may be configured to control the radiation source and the image capture device such that at least one pulse illumination period of the radiation source and at least one activity period of the image capture device synchronize (ie, temporally contiguous) with each other coordinated or coordinated). In particular, the control means for coordinately controlling the radiation source and the image pickup device may be configured such that at least one non-IR immission period (ie, a period during which the radiation source emits no IR radiation, eg one or more periods between IR pulses) of the radiation source and at least one inactivity period Non-recording period of the image pickup device (ie, a period in which the image pickup device is not ready to take an image, for example, is turned off) are synchronized or coincide. Selective during the activity periods of the radiation source so the image pickup device can be switched active, which is made possible by the temporary illumination of the object and its recognizability on one or more recorded images with high quality. By the image recording device between the recording of multiple images or in periods between pulses can be switched inactive, not only the operation of the infrared radiation source, but also the operation of the image pickup device with low energy consumption is possible.

According to one exemplary embodiment, the device may have a power management device which is set up to at least temporarily switch off the radiation source when the at least one image is taken if a predetermined image quality criterion (for example a target contrast) is met even without illumination with the at least one infrared pulse, in particular in daylight and / or when contours of the object meet a predetermined clarity criterion. According to such a management of the active times of the radiation source, for example, this can be switched off during the day for energy savings or with very clear contours (this can be referred to as cyclical operation).

According to one exemplary embodiment, the device may have a power management device that is configured to switch on the radiation source for recording the at least one image only when a power supply readiness of a temporary energy store for supplying the radiation source with energy has been detected. Such a temporary energy store may be, for example, a rechargeable battery or a capacitor powered by a volatile power source. If this temporary energy store is currently operational to provide energy, a corresponding message or sensory detection may trigger the infrared pulse emitting to capture the at least one image.

According to one exemplary embodiment, the radiation source may be configured to emit infrared light in a wavelength range between 700 nm and 100 μm, in particular in a wavelength range between 800 nm and 30 μm, more particularly approximately 10 μm. It has been found that particularly precise image capturing is possible in this wavelength range. These include in particular the body heat indicative wavelength range (in particular 7 microns to 14 microns) and are therefore particularly well suited for detecting human objects. In addition to illumination with an infrared source in the range of 750 nm to 950 nm for brightening the scene, independently of this by means of a radiation pulse source in the region of 10 μm, sensor information regarding the heat capacity can also be obtained. Heat dissipation of the irradiated objects are detected and evaluated in a volume of space. By means of such an additional indicative material parameter, the reliability of the object interpretation can be significantly improved.

According to an embodiment, the device may further be arranged to control a coverage characteristic of an opening to be passed from the monitored object by at least one closure body. In particular, the control device can be set up to object-adaptively control the coverage characteristic, for which purpose the recorded image information can be used. Thus, on the basis of the monitoring result, a coverage characteristic of an opening to be passed by an object can be controlled by at least one closing body. The infrared pulse-related monitoring system can thus be advantageously used for access control through gates or doors.

According to one embodiment, the control device may be configured to control the coverage characteristic based on geometric object data and / or at least one additional situation characteristic. In the context of this application, the term "geometrical object data" may be understood as meaning, in particular, information regarding the size and / or shape of one or more objects which are to pass through the opening completely or partially free of the closing body. Such geometrical object data may be static, for example when a vehicle of constant shape and size is to pass through the opening. Alternatively or additionally, however, such geometrical object data can also be dynamic, for example if a person is to pass through the opening as an object, which continuously changes its outer contour during walking. Geometric object data may also indicate the position or trajectory of an object before and / or passing the aperture. In the context of this application, the term "additional situation characteristic" can be understood as meaning, in particular, information as a criterion for setting the partial area of the opening uncovered by the at least one closing body when passing the object, which information relates not merely to the shape, size and position of the object, but instead contributing at least one information dependent on the present situation of passing an object to the adjustment process. Such an additional situation characteristic may, according to one embodiment, be dependent on the type of object that is to pass through the opening. In this case, for example, a distinction may be made between a first situation in which the object is a person and a second situation in which the object is an object. Human needs when passing through an opening with respect to a remaining free space to the at least one shooting body or a limitation of the opening can thereby be taken into account in order to avoid a malaise of a user when passing through the opening. However, items are not subject to such potential discomfort, so in this situation, remaining free space may be less or even zero. Further, if the object is a human, depending on at least one other attribute of that human (eg belonging to a particular culture, gender, age, status within an organization, mood, speed of movement, etc.), the coverage characteristic may be adjusted. Alternatively or additionally, it is possible to consider, as the at least one additional situation characteristic, a property of the scenario passing completely outside the object of passing the object through the aperture for setting the coverage characteristic. For example, a temperature, a season, a weather, a temperature difference between inside and outside, etc. may be used as such a criterion. Accordingly, there is provided a system for adjusting a coverage characteristic of an aperture by one or more occlusion members, which takes into account not only shape, size, or position in the form of geometric object data of the passing object, but additionally the adjustment of the coverage characteristic from the current situation or the current scenario when passing the object through the opening exposed to an adjustable degree is included in a corresponding control of the at least one closing body. By accomplishing object geometry-related and situational closure body control, both hard and soft parameters can be taken into account in the adjustment to achieve a sufficiently large opening degree with a sufficiently large opening time for comfortable and safe passage of the object. At the same time, opening degree or opening duration can be chosen to be sufficiently small or short in order to minimize parasitic energy transfer between an interior and an exterior of the opening. As a result, a high degree of operational safety, a high degree of user comfort and energy-efficient operation can be combined.

According to one exemplary embodiment, the geometric object data may include geometric object dimensions (in particular a shape and / or a size of the object) and / or position data indicative of a position of the object (for example a position of the object at a detection time and / or an expected or predicted position of Object when reaching the opening) or consist of it. In other words, the geometric object data may relate to the intrinsic geometric properties of the object as well as its extrinsic geometric properties relative to the opening and / or the at least one closure body. Such information may be previously known and / or determined by an object recognition device using methods of image processing, pattern recognition, fuzzy logic, etc. The shape and / or size of the object form a lower limit for the dimensioning of a passage surface, which is at least to be observed when passing the object through the opening.

According to one embodiment, the at least one additional situation characteristic may be independent of the geometric object data and indicative of a situation when the object passes through the opening. In other words, the additional situation characteristic compared to the geometrical object data just contribute a complementary information, which can therefore also enhance the precision and validity of the control of the at least one closure body. In other words, the at least one additional situation characteristic may not be geometrical object data, but, in contrast thereto, complementary information depending on the current situation of passing the object through the opening.

According to an embodiment, the controlled coverage characteristic may comprise at least one of a group consisting of a passage area of the opening kept open in an opening state for passing the object from the at least one closing body, and an opening time for passing the object before resealing the object in particular Opening through the at least one closing body.

According to an embodiment, the device for controlling the coverage characteristic may be configured based on the geometric object data and the at least one additional situation characteristic such that energy transfer between an exterior of the opening and an interior of the opening during opening to allow the object to pass is minimized. Information regarding opening width and / or opening time can also be passed on to a heating and / or cooling system (for example for providing a warm air curtain) for this purpose.

According to one embodiment, the device for controlling the coverage characteristic may be arranged such that, while the object is passing, the opening of the at least one closure body still remains partially covered. Thus, according to embodiments of the invention, a stepless transition between a fully open and a fully closed configuration of the opening is possible, wherein each intermediate stage (that is, each partial degree of coverage) can be adjusted as needed.

According to one embodiment, the device for controlling the coverage characteristic may be arranged such that during passage of the object, the opening remains free from the at least one closure body such that a base opening given by the geometrical object data and in addition to the base opening one through the at least one additional one Situation characteristic given additional opening is done. Thus, according to an embodiment of the invention, both requirements can be met, namely the assurance of an objectively required minimum size of the uncovered opening and the addition of a (possibly also motivated by subjective criteria) free space.

According to one embodiment, the additional opening may be a multi-opening and / or a longer opening relative to the base opening. In this context, a multiple opening is understood in particular to mean a buffer area which is actually not required for passage of the object for geometrical reasons, but is additionally provided for the purpose of increasing security or avoiding discomfort for the person described above for the reasons described above. In this context, a longer opening is understood in particular to mean a buffer time which may not be necessary for passing the object due to its kinematics, but may additionally be provided for the purpose of increasing security or avoiding a discomfort for the person described above. These increased and / or longer openings may also affect a person as a driver of a vehicle (for example, give the driver the assurance that a gate for a passage is sufficiently wide open).

According to an embodiment, the access structure may be selected from a group consisting of a building, a lane of a lane, a room, a machine, a vehicle, a stockpile, a garage, and a hangar. Other access structures are of course also possible.

According to one embodiment, the at least one closing body may be selected from a group which consists of at least one pivotally activatable closing body, at least one closing body which can be moved in a longitudinal movement, and at least one closing body which can be rolled in. Also foldable closure body or the like can be used.

According to one embodiment, the at least one closing body may be selected from a group consisting of at least one horizontally movable closing body and at least one vertically movable closing body. Also obliquely movable closing body are possible. In particular, in the horizontal and / or vertical direction may be provided in each case a closing body or a plurality of closing body.

Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the following figures.

1 shows an apparatus for object flow interaction with respect to an object according to an exemplary embodiment of the invention.

2 FIG. 12 shows a portion of an object flow interaction apparatus with respect to an object according to an exemplary embodiment of the invention. FIG.

3 shows an arrangement with a device for monitoring an object and for controlling it accordingly closure bodies according to an exemplary embodiment of the invention.

4 shows a sensor network of communicably coupled devices for combinatorial monitoring of different areas of an object according to an exemplary embodiment of the invention.

The same or similar components in different figures are provided with the same reference numerals.

Conventional sensor systems for object flow interaction are based on one-dimensional or two-dimensional sensors. This allows only a simple object analysis with limited assurance of the results. In other sensor systems, the sensor technology is mainly based on measurement principles of TOF (Time-of-Flight). Still other conventional sensor systems perform a situation analysis by means of a transmitted light grid matrix. These systems can all be easily detected by an unauthorized person, since the measurement principles are based on the specific characteristics of the emitted light. Since these properties are known in turn, the presence of such a sensor system can be detected very easily and consequently manipulated very easily.

Thus, the described conventional systems can all be disturbed very easily (TOF measurements, for example by sending pulsed back light at the correct frequency and the correct pulse pattern), a light grid matrix by superimposing a counter pattern, etc. In particular, this simple interference with conventional laser To find speed measuring systems in traffic: There are solutions that automatically take a suitable disruptive action when capturing the vehicle with the measuring laser and thus disturb the measurement for a few seconds.

Especially in the field of safety-critical applications or for applications with high reliability required the conventional solutions described are not or only partially suitable.

In particular, for the 3D measurement of light scenes, relatively much energy is traditionally used for actively illuminated scene measurement. This runs counter to the basic idea of continuous energy savings.

According to an exemplary embodiment of the invention, the recognizability of the sensor system can be greatly reduced or made impossible by the use of passive high-sensitivity cameras due to the lack of a typical for the sensor emission pattern. In particular, by the use of a pinhole or a miniature lens system (since highly sensitive cameras can compensate for often lacking or low light intensity of the lens (s)) instead of a conventional high-intensity lens system as a camouflage device, a device according to an exemplary embodiment of the invention can be camouflaged such that the recognizability for a disturber or unauthorized is at least greatly reduced. This small opening size is also of great advantage for the susceptibility to interference: due to the fact that only small viewing openings exist, a suitable resistance to mechanical contamination can be achieved (for example by beading effects around the very small viewing hole of the camera, a macroscopic self-cleaning function can be realized) Also, a high degree of mechanical security (especially security against vandalism) can be achieved. Through a strengthening armor of the region Around the minimum sight hole the penetration of objects over a defined diameter is very easy to prevent. Such a device is then also suitable for use in an industrial production environment.

Through the use of one or more passive cameras, which at most require dark scene lighting with a very short-term infrared pulsed flash, can be achieved according to an exemplary embodiment of the invention, a significant energy savings over conventional systems. In particular, in the context of the ever decreasing supply energy quantities due to the trend of the "Internet of Things", such a sensor system fulfills the continuously increasing requirements in this regard.

On the basis of at least two such camera images (preferably recorded within a sufficiently short period of time from at least two different positions), an object recognition in the surveillance area can be realized by means of stereometric or (in particular three-dimensional) photogrammetric methods, which interprets the object size, the object position and / or the object Object form allowed. In particular, the interpretation of the object motion vector or the object speed is possible by analyzing changes over several object detection sequences.

Such a 3D sensor system of a device according to an exemplary embodiment of the invention can process the acquired base object information directly for object-related interaction tasks or transmit this information via a suitable communication means to a separate system which can perform the actual task associated with object flow interaction. Due to additional information, such a remote system can also permit further interpretations relevant to object flow interaction (for example, vehicle type-dependent traffic counting on several lanes, wherein optionally different maximum speeds on the lanes can be monitored and recorded).

Since a sensor system or a device according to an exemplary embodiment of the invention is based on the observation of several images which are recorded (in particular at least almost) at the same time, manipulation by superposition with foreign images in front of the camera is very difficult. As a result of a high image recording frequency, it is thus possible to suppress or even prevent unrecognized manipulations from occurring in front of the two or more cameras. This is especially true when the near range of both or all of the cameras is detected by at least one other camera.

With the sensor information thus obtained, a variety of results related to object flow interaction can be obtained. Such results include, for example, the prediction of object behavior due to additional properties such as size, velocity vector, motion patterns, etc., for precise control of systems such as access systems. Such a sensor can be used according to other embodiments of the invention for a movement pattern analysis (and optionally downstream optimization). Deviations from expected movement patterns can also be detected according to exemplary embodiments. Furthermore, motion vector analysis for object discrimination is possible (for example, using predefined expert rules such as "a human is rarely faster than 10 km / h"). In particular, object tagging may also be performed on the basis of a selected property (for example, as a size for tracking persons in a zone).

In particular, according to exemplary embodiments of the invention, several such recognition systems can be combined and additional findings can be obtained therefrom. For example, sensor systems according to exemplary embodiments of the invention may be used on both sides of a passage, in particular with a connection to peripheral systems (for example, higher-level analysis system, building management system, cloud systems, Internet of Things, big data analysis, etc.). In this way, in particular a combinatorial interpretation of two sensor systems can take place, for example by incorporating previously known knowledge about their locations (and in particular the resulting monitoring rooms). By way of example, this makes it possible to make a statement about the probability of collision of two objects, and if necessary such a collision can be prevented by the timely introduction of countermeasures.

Particularly in the case of object-adaptive door and gate opening controls, with exemplary embodiments of the invention, a significantly higher degree of manipulation security, detection reliability and overall reliability can be achieved. By a device according to an exemplary embodiment of the invention, an additional security for escape route monitoring is possible.

1 shows a device 100 to the object flow interaction with respect to an object 102 according to an exemplary embodiment of the invention.

With the device 100 according to 1 is an infrared illumination modulated three-dimensional object sensor allows. The scenario in which the device 100 according to 1 is implemented, the environment can be a door 91 to be in a building through which a corridor 93 leads. The device 100 can sensory monitor whether and which persons as objects 102 through the corridor 93 move.

The device 100 has an infrared-emitting pulsed electromagnetic radiation source 116 on, which can be configured as an array of infrared LEDs. The radiation source 116 is set up, the object to be monitored 102 to illuminate with at least one infrared pulse while passing through an image pickup device 72 is shown. As a pulsed infrared radiation source 116 or infrared flash system, a device can be used to deliver short pulse-like infrared emissions for flash-like illumination of the observed scene. Advantageously, the radiation source 116 for emitting infrared light having a wavelength of approximately 1 be furnished. Several, from different perspectives or perspectives of several passive cameras 19 as an image recording device 72 captured images can through the device 100 be evaluated. The result of this evaluation forms, for example, the basis for a decision as to whether an object 102 access to a building is granted.

The infrared-sensitive image recording device 72 the device 100 So here are the two cameras designed as infrared cameras 19 on, between which the radiation source 116 is arranged. The image capture device 72 is set up within respective limited time intervals during periods of illumination of the object 102 with the infrared pulses several images of the object to be monitored 102 take. In other periods between the pulses, the infrared-sensitive image recording device 72 be switched off in the meantime to save energy.

A microprocessor-based or microprocessor-based controller 74 serves to control the radiation source 116 , the image capture device 72 and other entities of the device 100 , The control device 74 may have more than one microprocessor, for example, multiple microprocessors, additional auxiliary electronics, etc. The controller 74 performs its control such that pulse illumination periods of the radiation source 116 and activity periods of the image pickup device 72 are synchronized to capture or at least partially coincide. Accordingly, illumination-free intermediate pulse periods of the radiation source 116 and inactivity periods of the image pickup device 72 be synchronized for imaging or at least partially coincide. According to 1 has the image pickup device 72 two cameras 19 on to steric image information about the object 102 together. Advantageously, the cameras 19 also be equipped with faint miniaturized lenses (which is in terms of a camouflage advantage), with a very high photosensitivity of the cameras 19 greater than 800 ISO, for example, 1600 ISO, which allows recording the images. As a result, a low light intensity of lenses used can be compensated by the high camera sensitivity.

A recognizer 17 who took the captured image data from the cameras 19 be supplied, is for detecting the object 102 based on from multiple perspectives on the object 102 set up pictures. For this purpose, the multiple recorded images can be analyzed with methods of image processing to information (for example, shape, size, type, identity), etc. about the object 102 to extract. The stereometric recognizer 17 For example, it can be used to recognize or spatially characterize the object 102 be configured by triangulation using three-dimensional photogrammetry. In addition, the recognizer is 17 designed to match the different and recorded from different directions images (which have been taken, for example, at different illumination intensities with infrared light) against each other, the images are associated with different emission intensities of infrared pulses. Such a comparison makes it possible to determine additional image information.

Thus, the device serves 100 according to 1 to the object flow interaction with respect to the object 102 , The image capture device 72 the device is set up, at least two images of the object 102 from at least two different perspectives. The stereometric recognizer 17 is configured to detect information concerning the object flow interaction based on the at least two captured images and by stereometry. In this case, determines the recognizer 17 from the means of the image pickup device 72 recorded images at least a three-dimensional image of the object 102 as the basis for recognizing the information concerning the object flow interaction. The device 100 is set up to perform the object flow interaction without emitting directional and / or positional radiation. Only the direction and position unspecific infrared radiation of radiation source 116 can be optionally provided to the scenario according to 1 for the cameras 19 better to illuminate.

A (preferably wireless or alternatively wired) communicable communication device 80 the device 100 is for communicating the object flow interaction information to a communication partner device 78 formed, which can evaluate, use and / or further process the information transmitted and, where appropriate, information to the communication device 80 can return.

The device 100 according to 1 also has a prediction device 29 for predicting motion information relating to the object 102 is set up. If, for example, the position of the object 102 is known at different times, speed information can be derived therefrom and by means of the prediction device 29 by extrapolation a prediction about the probable location of the object 102 be taken at a future time. As a result, for example, a collision prevention, a timely opening and closing of doors or gates and thus an energy-efficient operation can be made possible. The prediction may be based on physical laws (such as Newton's axioms) and / or on expert rules and / or empirical information (eg, motion profiles of similar objects 102 in the relevant environment in the past) done in a database 35 may be stored on which the prediction device 29 Has access. The prediction facility 29 is further for transmitting the predicted information for assisting in determining the object flow interaction information to the recognizer 17 set up. The recognizer 17 Thus, it is not only possible to evaluate the recorded images, but also the prediction of the prediction device based on decision rules 29 involved in the stereometric evaluation of the image data.

As further in 1 shown, the device can 100 further an event triggering device 32 which is set up to trigger at least one predetermined event based on the information concerning the object flow interaction. The triggered event can be made dependent on the result of the analysis process. The event triggering device 32 can with another communication interface 37 be equipped with the event by sending a corresponding communication message to a in 1 Receiver not shown can be triggered. The communication interfaces 37 . 80 can also be designed as a common communication interface.

The image capture device 72 can by means of a camouflage device 31 be camouflaged in whole or in part. Such concealment of the existence and / or positioning of the cameras 19 It can make it impossible or impossible for unauthorized persons to operate the device 100 to disturb or manipulate. For example, a surface area of the cameras 72 covered by a through hole to allow for the provision of the cameras 19 not to appear externally. It is also possible, as in 1 shown, mirror films or other mirror body as a camouflage device 31 to implement, with which the view from the object 102 to the cameras 19 difficult or impossible, whereas the detection capability of the cameras 19 regardless of such a mirror foil or other mirror body remains undisturbed.

• – Nichtöffnen eines Durchgangs für das Objekt 102, wenn die andere Seite des Durchgangs nicht frei ist
• – Auslösen eines Alarms, wenn das Objekt 102 eine unerlaubte Zone belegt (zum Beispiel Fluchtwege, Sicherheitszone hinter Tor, Ampelsteuerung)
• – Auslösen einer Reservierung eines Lifts zum effizienten Ermöglichen einer Schleusenfunktion
• – Abweisen von zu großen, zu hohen und/oder zu langen Fahrzeugen als Objekt 102 an einer Einfahrt, zum Beispiel über eine Ampelsteuerung; alternativ oder ergänzend Sicherstellung, dass keine Tor- oder Schrankenöffnung für diese Fälle erfolgt bzw. Aussondern von räumlich oder funktional unpassenden Objekten 102 vor Tunnels, etc.
• – Detektion eines unerlaubten Durchfahrens einer Schranke durch mehrere Fahrzeuge zum Erkennen von Betrug (zum Beispiel um Parkgebühren zu sparen): Zählen von Objekten 102 pro Öffnungszyklus, welche die Schranke passieren
• – Variable Anpassung der Öffnungsweite von Verschließvorrichtungen durch Bestimmung einer optimalen Öffnungsweite (gegebenenfalls zuzüglich ein Sicherheitszuschlag) und Öffnungsdauer anhand von Objektaufkommen (Anzahl, Geschwindigkeit, Richtung von Objekten, wie Fahrzeugen oder Personen, pro Zeit) und Umweltbedingungen.
• – Erfassung mindestens eines Parameters mindestens eines Objekts 102 ein- oder beidseitig des Durchgangs (insbesondere auch während einem Passiervorgang) und/oder durch Kommunikation von Sensoren oder Kameras 19 untereinander, bzw. in Interaktion mit einer separaten (zum Beispiel cloudbasierenden) Auswerteeinheit (zum Beispiel der Erkenneinrichtung 17)
• – (insbesondere manipulationssichere) Überwachung von Rolltreppen und Bahnsteigen, etc., in Bezug auf Sicherheit, Verkehrsaufkommen, Nachverfolgbarkeit von Objekten 102 und nachträglicher Objektanalyse
• – Kombination von Erkennung eines Objekts 102 (zum Beispiel Personenerkennung), Türöffnung und nachgeschalteter Zeiterfassung im Betrieb
• – Selbsttätige Anpassung des Betriebs der Vorrichtung 100 an sich verändernde Umgebungsbedingungen zur Erhaltung der Fehlerrobustheit oder Sicherheit (zum Beispiel bei Sturm, Starkregen, Panik, Rauch und/oder Feuer)

In a preferred embodiment, the with the device 100 according to 1 feasible 3D sensor used in the immediate vicinity of an opening system of a passage, which is in the area of the door 91 adjacent to the corridor 93 can be provided. In connection with the object flow interaction can thereby by means of the event triggering device 32 In particular, one or more of the following functions are generated:

• - not opening a passage for the object 102 if the other side of the passage is not clear
• - triggering an alarm when the object 102 an unauthorized zone occupied (for example escape routes, security zone behind gate, traffic light control)
• - triggering a reservation of a lift to efficiently enable a lock function
• - Refuse too large, too high and / or too long vehicles as an object 102 at a driveway, for example via a traffic light control; alternatively or additionally, ensuring that no gate or barrier opening is made for these cases or discarding objects which are spatially or functionally inappropriate 102 in front of tunnels, etc.
• - Detection of unauthorized passing through a barrier by several vehicles to detect fraud (for example, to save parking fees): Counting objects 102 per opening cycle, which pass the barrier
• - Variable adjustment of the opening width of closing devices by determining an optimal opening width (plus, if applicable, a safety margin) and opening time based on object volume (number, speed, direction of objects, such as vehicles or persons, per time) and environmental conditions.
• - Detecting at least one parameter of at least one object 102 one or both sides of the passage (in particular also during a passage) and / or by communication of sensors or cameras 19 with each other, or in interaction with a separate (for example, cloud-based) evaluation unit (for example, the recognizer 17 )
• - (especially tamper-proof) monitoring of escalators and platforms, etc., in terms of safety, traffic, traceability of objects 102 and subsequent object analysis
• - Combination of recognition of an object 102 (for example, person recognition), door opening and downstream time recording during operation
• - Automatic adjustment of the operation of the device 100 changing environmental conditions to maintain fault robustness or safety (storm, heavy rain, panic, smoke, and / or fire, for example)

• – Auswertung bzw. Zählen von Objekten 102 (zum Beispiel Personen), die an einem Fokuspunkt (zum Beispiel Tür, Öffnung, Abzweigung, Punkt von Interesse, etc.) vorbeilaufen und welche passieren (insbesondere zur Messung der Wirksamkeit zum Beispiel von Schaufensterauslagen, Werbung, etc.); für Fahrzeuge als Objekte 102 können ebenfalls Analysen durchgeführt werden (zum Beispiel Drive-in und Drive-through Erkennung); im Umfeld von autonomen Fahrzeugen als Objekte 102 (zum Beispiel automatische Transportwagen im Produktionsumfeld) können so auch potentielle Kollisions- oder Staupunkte ermittelt und durch das Ergreifen von Gegenmaßnahmen eine Kollision oder ein Stau verhindert werden.
• – Zuweisung von bevorzugten Zonen oder Durchgängen (zum Beispiel Parkplätze, Warteschlange, Ausgang, etc.) für Objekte 102 mit entsprechendem Attribut (zum Beispiel Ehrengäste); ein solches Attribut kann zum Beispiel ein von der mindestens einen Kamera 19 der Vorrichtung 100 erkanntes Berechtigungsobjekt sein (zum Beispiel ein QR-Code, ein Barcode, ein RFID-Tag, ein Ausweis, eine Laufnummer, eine erkannte Geste).
• – Anwendung zum Zählen von Objekten 102 (zum Beispiel einer Anzahl von Personen), Warteschlangensteuerung (auch für Fahrzeuge: Warteräume für PKW, Maut, Sicherheitszugänge, etc.)
• – Vereinzelung oder Einteilung von Objekten 102 in Lose bzw. in Ziel- oder Warteräumen. Dies kann sowohl für Objekte 102 in Form von Personen, personenbemannten Fahrzeugen, autonomen Fahrzeugen oder transportierten Objekten 102 (zum Beispiel Güter auf Förderband, Gepäckstücke, etc.) durchgeführt werden.
• – Anpassung einer Warteraumgröße an eine Größe von einem oder mehreren Objekten 102, an eine Durchflusskapazität und/oder an ein Aufkommen. Insbesondere können in diesem Zusammenhang auch extern angelieferte Umgebungsvariablen (zum Beispiel in absehbarer Zeit ankommende Objekte 102 aus einer anderen Vorrichtung 100 oder einem anderen Sensorsystem) oder intern vorhandene Erfahrungswerte (zum Beispiel Historie, erkannte und/oder erwartete Objektschwärme (zum Beispiel ein Gepäckwagen am Flughafen lässt auf einen kommenden Objektschwarm aus Koffern schließen), gestriges Verkehrsaufkommen, Sommerferienauslastung letztes Jahr, etc.) berücksichtigt werden.

In a further preferred embodiment, a device 100 according to an exemplary embodiment of the invention with 3D sensor in the vicinity of an opening system or passage (see, for example, door 91 or 3 ) or at a specific focal point. According to such an embodiment, one or more of the following functions may be generated by object flow interaction:

• - Evaluation or counting of objects 102 (for example, persons) passing by and passing through a focal point (eg, door, opening, branch, point of interest, etc.) (in particular for measuring the effectiveness of, for example, window displays, advertising, etc.); for vehicles as objects 102 Analyzes can also be performed (for example, drive-in and drive-through detection); in the environment of autonomous vehicles as objects 102 (For example, automatic transport vehicles in the production environment) so can also be determined potential collision or stagnation points and by taking countermeasures, a collision or congestion can be prevented.
• - Allocation of preferred zones or passages (eg parking, queue, exit, etc.) for objects 102 with corresponding attribute (for example, guests of honor); such an attribute may be, for example, one of the at least one camera 19 the device 100 recognized authorization object (for example, a QR code, a bar code, an RFID tag, an ID card, a serial number, a recognized gesture).
• - Application for counting objects 102 (for example, a number of people), queue control (also for vehicles: waiting rooms for cars, toll, security access, etc.)
• - Separation or division of objects 102 in lots or in destination or waiting rooms. This can be for both objects 102 in the form of persons, passenger vehicles, autonomous vehicles or transported objects 102 (for example, goods on conveyor belt, luggage, etc.) are performed.
• - adaptation of a waiting room size to a size of one or more objects 102 , flow capacity and / or volume. In particular, in this context, externally supplied environment variables (for example, in the foreseeable future incoming objects 102 from another device 100 or another sensor system) or internal experience (for example, history, detected and / or expected swarms of objects (for example, a baggage car at the airport suggests an upcoming swarm of suitcases), yesterday's traffic, summer vacation utilization last year, etc.).

• – Freihaltefunktion eines Raums für ein spezielles Objekt 102 (zum Beispiel ein Chefparkplatz, der nur für den Chef zugänglich ist; Liftsteuerungen und Liftreservierungen (zum Beispiel für Besucher, Warentransporte, Wertsachentransporte, Ehrengäste, Zugangspriorität für Attikawohnung, etc.))
• – Optimales Befüllen eines zur Verfügung stehenden Raumes durch Objekte 102 in Abhängigkeit von bzw. unter Berücksichtigung von der Form der einzelnen Objekte 102 (zum Beispiel Verkehrsleitung zum optimalen Befüllen eines Parkhauses oder optimale Platznutzung in einem Hochregallager), insbesondere durch Gesamtbelegungsflächenminimierung bei Objekten 102 mit unterschiedlichen Größen und/oder Formen in zwei oder drei Dimensionen (zum Beispiel Güterlagerung)
• – Reservierungssystem: Für im Voraus angemeldete oder bekannte Objekte 102 kann ein Platz freigehalten werden (zum Beispiel kann in einem Parkhaus für einen Bus mit Überhöhe bei entsprechender Voranmeldung in einer Freifläche ein entsprechender Platz freigehalten werden, wobei eine Identifizierung mittels der mindestens einen Kamera 19 der 3D-Sensorik der Vorrichtung 100 erfolgen kann (zum Beispiel mittels eines Ausdrucks einer Reservationsbestätigung mit QR-Code, der zum Beispiel an einer Windschutzscheibe eines Fahrzeugs als Objekt 102 platziert werden kann)
• – in einem Parkhaus kann eine Leitung eines Fahrzeugs als Objekt 102 je nach Fahrzeuggröße zu einem geeigneten Parkplatz erfolgen, zum Beispiel basierend auf Fahrzeuggröße und/oder Fahrzeugpriorität (zum Beispiel Mieterbevorzugung über Identifikationssystem), wobei eine entsprechende Identifikation als Zusatzfunktion über die Kamera(s) 19 der 3D-Sensorik realisiert sein kann
• – Bemessung einer Straßenbenutzungsgebühr oder einer Parkplatzgebühr selbsttätig aufgrund einer detektieren Fahrzeuggröße, der Verbundenheit von Objekten (zum Beispiel Fahrzeug mit Anhänger) oder Nummernschildidentifizierung
• – Nachbestellung von Fahrzeugen aus einem Warteraum zum kontinuierlichen Abtransport von Gütern und/oder Personen (zum Beispiel Taxis am Flughafen, Gondeln an einer Mittelstation einer Seilbahn, autonome Palettenwagen, etc.)
• – Steuerung von Werbung basierend auf der Identität eines identifizierten und detektierten Objekts 102 (insbesondere über eine Fahrzeugklassifikation und/oder eine Fahrzeugidentifikation)
• – Steuern von Objektflüssen, d.h. einer Bewegung von Objekten 102, durch Anpassung der Flussbreite (zum Beispiel durch Bremsen von zu schnellen Objekten 102, Kapazitätserhöhung bei hohem Verkehrs- und/oder Transportaufkommen, etc.)
• – Kombinierte Lieferantensteuerung: Entweder ist das Objekt 102 ein Lastwagen oder hat einen Barcode an der Windschutzscheibe, um Zugang durch ein Tor zu erhalten
• – Streckenblocksteuerung (zum Beispiel kann ein nächster Abschnitt nur begehbar gemacht werden, wenn dieser frei ist), wenn kritische Objekte 102 durchgeschleust werden (zum Beispiel Geldtransporte oder Menschen mit Wertsachen, Besuche von Ehrengästen, Antiterrorfunktion, Einschleus- und Ausschleusfunktionen (zum Beispiel Kofferverteilung auf Flughafen oder Güter auf Förderbandanlagen in der industriellen Fertigung bzw. Logistik), Isolierung von gefährlichen Objekten (Menschen mit erkannter Auffälligkeit, brennende Güter, etc.).
• – Automatische Detektion von falsch positionierten Objekten 102 (insbesondere von falsch oder zu lange abgestellten Fahrzeugen)

In a further preferred embodiment, a device 100 used according to an exemplary embodiment of the invention for the control of parking spaces and / or to optimize the flow of traffic. In this case, one or more of the following functions can be realized by the object flow interaction, which advantageously provides high security against manipulation of the 3D sensor in the form of the at least one camera 19 can be achieved:

• - Freedom function of a room for a special object 102 (for example, a chief car park accessible only to the boss; lift controls and lift reservations (for example, for visitors, goods transports, valuables transports, guests of honor, access priority for attic apartments, etc.))
• - Optimal filling of an available space by objects 102 depending on or taking into account the shape of the individual objects 102 (For example, traffic management for optimal filling of a parking garage or optimal use of space in a high-bay warehouse), in particular by total occupancy surface minimization of objects 102 with different sizes and / or shapes in two or three dimensions (for example goods storage)
• - Reservation system: For pre-registered or known objects 102 a place can be kept free (for example, in a parking garage for a bus with excess height with appropriate advance notice in an open space a corresponding space be kept, with an identification by means of at least a camera 19 the 3D sensor of the device 100 can be done (for example by means of an expression of a reservation confirmation with QR code, for example, on a windshield of a vehicle as an object 102 can be placed)
• - in a parking garage can be a line of a vehicle as an object 102 depending on the size of the vehicle to a suitable parking space, for example, based on vehicle size and / or vehicle priority (for example, tenant preference via identification system), with a corresponding identification as an additional function on the camera (s) 19 the 3D sensor can be realized
• - Designation of a road user charge or a parking fee automatically on the basis of a detected vehicle size, the connectedness of objects (for example, vehicle with trailer) or license plate identification
• - re-ordering vehicles from a waiting room for the continuous removal of goods and / or persons (for example taxis at the airport, gondolas at a middle station of a cable car, autonomous pallet trucks, etc.)
• - Control of advertising based on the identity of an identified and detected object 102 (in particular via a vehicle classification and / or a vehicle identification)
• - Control of object flows, ie a movement of objects 102 , by adjusting the flow width (for example by braking too fast objects 102 , Capacity increase with high traffic and / or transport volume, etc.)
• - Combined supplier control: either the object is 102 a truck or has a barcode on the windshield to gain access through a gate
• - Route block control (for example, a next section can only be made accessible if it is free) if critical objects 102 (for example, transport of money or valuables, visits by guests of honor, anti-terrorism functions, inward and outward transfer functions (for example, suitcase distribution at airports or goods on conveyor belts in industrial production or logistics), isolation of dangerous objects (people with recognized conspicuousness, burning goods, etc.).
• - Automatic detection of incorrectly positioned objects 102 (especially wrong or too long parked vehicles)

• – Durchführung einer Materialflusssteuerung zum Flottenmanagement (unter Berücksichtigung von Auslastung, Verfügbarkeit und/oder einer Ressourcenprognose); hierbei kann eine Objektsensorik für eine nachgeschaltete Materialflussoptimierung eingesetzt werden
• – Volumenbestimmung bei einer Objektflusssensorik
• – Erkennung von diskreten Objekten 102 (die zum Beispiel chaotisch gelagert sein können) zur automatischen Nachbefüllung und/oder Nachbestellung, falls ein Ergebnis der Analyse sein sollte, dass diese Objekte 102 nicht mehr vorhanden sind oder nicht mehr in ausreichender Anzahl vorhanden sind
• – Volumenüberwachung für Bulk-Güter als Objekte 102: beispielsweise Füllstandsmessung von Tanks oder Lagerplätzen, Verwaltung von Schüttgut, etc.
• – Anwendung zur Qualitätssicherung in der Produktion: 3D-Überwachung einer Objektmasse
• – Sicherheitskartographie: Erfassung, wo wie große Behälter als Objekte 102 positioniert sind (wobei die Behälter labelbar sein können, zum Beispiel „radioaktiv“, „hochgiftig“, „explosiv“, etc.) in einem Lager; dies kann im Speziellen mit einem kamerabasierenden Erkennen der individuellen Labels an den Behälteraußenseiten kombiniert werden.

In a further preferred embodiment, a device 100 be used according to an exemplary embodiment of the invention for the control of material flows. One or more of the following functions can be realized by means of object flow interaction:

• - Performing a material flow control for fleet management (taking into account capacity utilization, availability and / or a resource forecast); In this case, an object sensor for a downstream material flow optimization can be used
• - Volume determination in a Objektflusssensorik
• - Detection of discrete objects 102 (which, for example, may be chaotically stored) for automatic refilling and / or reordering, should a result of the analysis be that these objects 102 are no longer available or are no longer available in sufficient numbers
• - Volume monitoring for bulk goods as objects 102 : for example, level measurement of tanks or storage areas, management of bulk material, etc.
• - Application for quality assurance in production: 3D monitoring of an object mass
• - Security cartography: capture where as large containers as objects 102 are positioned (the containers may be labelable, for example "radioactive", "highly toxic", "explosive", etc.) in a warehouse; this can be combined in particular with a camera-based recognition of the individual labels on the container outer sides.

• – Erkennung von Lastwagen oder anderen großen Fahrzeugen als Objekte 102 im Rahmen einer Antiterrorfunktion (insbesondere auch Warnung bei Detektion von auffälligen Verhaltensmustern (zum Beispiel auffällige Spur, auffällige Geschwindigkeit, etc.), wobei optional Gegenmaßnahmen eingeleitet oder ausgelöst werden können (zum Beispiel Ausfahren von Spikes, Sperren, etc., um zum Beispiel eine Durchfahrt oder einen Durchgang zu sperren))
• – Erkennung von liegengelassenen Objekten 102 oder verdächtigen Objekten 102, zum Beispiel Gepäckstücke am Flughafen oder Bahnhof im Rahmen von Sicherheitsanwendungen. Insbesondere kann auch eine Nachverfolgung eines Abstellers eines liegengelassenen Objektes 102 oder eine automatische Alarmierung ausgelöst werden, wenn sich ein Objekt 102 aufteilt (zum Beispiel wenn sich ein Mensch vom Koffer entfernt).
• – Anzeige der Verweildauer in Videoüberwachungen zur Vereinfachung von Volumenüberwachungen, wobei insbesondere eine Implementierung als selbstlernender Schwarm von Sensoren in Form der Kameras 19 möglich ist (insbesondere zur Erhöhung der Manipulationsresistenz, der Aussagensicherheit, der allseitigen Objektanalyse, etc.)
• – (insbesondere mobiles) Sicherheitssystem zum Freihalten und/oder Überwachen von großen Volumina (zum Beispiel einem Gefängnis, dem Schauplatz einer Großveranstaltung, einer Sperrzone)
• – Aktivierung von hochauflösenden Sicherheitskameras und/oder Alarmsystemen, wobei insbesondere ein Hinweis oder Alarm bei Eindringen von Objekten 102 in ein freizuhaltendes Volumen ausgelöst werden kann
• – Auslösen eines Inaktivitätsalarms bei Detektion einer Abweichung von einem normalen bzw. erwarteten Bewegungsmuster (zum Beispiel keine Bewegung mehr von gebrechlichen Personen, kein regelmäßiger Rundgang durch Sicherheitspersonal, fehlende Detektion einer Wärterüberwachung in Haftanstalten, etc.)

In a further preferred embodiment, a device 100 be used according to another exemplary embodiment of the invention for the realization of security functions. In this case, one or more of the following special functions can be realized by the object flow interaction (wherein advantageously a high manipulation security of the 3D sensor can be achieved):

• - Detection of trucks or other large vehicles as objects 102 in the context of an anti-terrorist function (in particular also warning on detection of conspicuous behavior patterns (for example conspicuous lane, conspicuous speed, etc.), wherein optionally countermeasures can be initiated or triggered (for example extension of spikes, locks, etc., for example one Passage or to block a passage))
• - Detection of abandoned objects 102 or suspicious objects 102 For example, baggage at the airport or train station as part of security applications. In particular, it is also possible to track a depositor of a dropped object 102 or an automatic alert will be triggered if an object 102 splits (to Example when a person moves away from the suitcase).
• - Display of the residence time in video surveillance to simplify volume monitoring, in particular an implementation as a self-learning swarm of sensors in the form of cameras 19 is possible (in particular to increase the resistance to tampering, the statement of certainty, the general object analysis, etc.)
• - (especially mobile) security system for keeping and / or monitoring large volumes (for example, a prison, the scene of a major event, a restricted zone)
• - Activation of high-resolution security cameras and / or alarm systems, in particular an alert or alarm in case of intrusion of objects 102 can be triggered in a volume to be kept
• Triggering an inactivity alarm upon detection of a deviation from a normal or expected movement pattern (for example, no more movement of frail persons, no regular tour of security personnel, lack of detection of guards surveillance in detention centers, etc.)

In a device 100 According to another exemplary embodiment of the invention, there are more than two cameras 19 installed at different distances from each other and / or at different positions. In operation, photogrammetric algorithms can then be used over several cameras 19 an object determination can be carried out. As a result, both the resistance to tampering and the statement security can be significantly increased. In particular, these can be several cameras 19 be formed self-organizing and / or self-learning by means of a Schwarmtypischen mechanism. The cameras 19 For example, they may communicate with each other via the Internet (for example, by means of a cloud architecture, an Internet of Things architecture, etc.). By means of such devices 100 Even large volumes can be monitored.

In a device 100 According to yet another exemplary embodiment of the invention, two high-sensitivity cameras 19 mounted at a defined distance so that they camouflage with a miniaturized lens system as a camouflage device 31 are equipped. The low light intensity resulting from the miniaturization corresponding lenses of the cameras 19 can be due to a very high sensitivity of the cameras 19 (for example, at least ISO 1600 ) are compensated. The recognizer 17 or an additional monitoring device may cause asymmetries between the two cameras 19 detect and thus allow early detection of (in particular security relevant) attempted manipulations. Such a 3D sensor system as a device 100 is suitable in this embodiment, in particular, to detect tampering with ATMs or the like, since attachments for skimming can be reliably detected by the 3D sensor.

In a preferred embodiment of the invention, the 3D sensor system as stereometric (for example, with photogrammetric evaluation) sensor system with a camera 19 but running two lens systems (cf. 2 ). This keeps the expenditure on equipment for forming the device 100 especially small.

In particular, by combining the mentioned embodiments, further special functions can be realized: For example, an energy-optimized, passive 3D sensor system can be used for the detection of possible opening-critical states in connection with a passage or a passage. Only then is it possible, for example, to ascertain with great certainty that critical conditions exist. Thus, for example, evacuated escape routes can be detected with this sensor system, unexpected obstacles can be signaled in advance directly behind a passage, or predicted critical traffic can be predicted in a passage area (for example, objects that have remained lying down) 102 , standing vehicles with collision potential, etc.) and be warned accordingly or protected by not opening the passage. In particular, through interaction and functional results superposition of multiple sensors can generate statements and information that can not be reached by means of conventional sensors. In particular, the quantification of moving objects 102 in terms of shape, size, direction and / or speed even with only a few of these parameters are already very clear conclusions: Using a normal sensor, it is very difficult to reliably estimate at a barrier, whether a subsequent vehicle (unauthorized) runs up tight or whether it is a trailer. By observing both objects 102 Over a certain period of time, two or more vehicles can detect different speeds, distances or accelerations, whereas in a vehicle with a trailer these values are constant. In addition to the embodiment of this exemplary embodiment for "two-vehicle recognition", objects can also be used with this mechanism 102 count (for example, humans by identifying the mean height of the object 102 in the motion vector and counting, sorting or tracking based on it). In particular to Training of energy-saving sensor systems is also a combinability with a decentralized computing unit possible. Thus, for example, the evaluation of the camera images (or image sequences) can take place decentrally by means of a cloud architecture (in particular, a combinatorial projection over several sensors can be very compute-intensive). The architecture described allows a low energy input and resource use for the sensors. At the central point with high computational effort or resource use (namely, a cloud data center), the energy supply can be made easier by means of environmentally friendly energy. As a result, a very good energy and ecological balance can be achieved.

Advantageously, a two-sided or all-sided detection of objects 102 and their movements are implemented in the context of a focus zone (including passages). By parameter interpretation of the moving objects 102 not just the type of object 102 recognize, but also movement abnormalities. On the one hand, so object-dependent advertising can be switched and an advertising effectiveness can be verified (for example, by recognizing a sex of a person, object tracking on height, number recognition in vehicles) or by the same basic principles security functions are perceived (for example, in detection of a large vehicle, their collision risk assessment Automatic collision detection, exit of given routes and corridors, height limits for passage, sorting of trailer trains, detection of potentially dangerous objects 102 Possible (such as stones on the road, abandoned suitcases at the airport, bluff on an airstrip, etc.). According to an exemplary embodiment of the invention, a device 100 initiate appropriate countermeasures when detecting a hazard (for example, extending spikes, a bollard, an armored door, activating a signal system, a barrier system, etc.) or security personnel can be alerted purposefully. This alerting can be accompanied by specific additional information (for example, object interpretation, case volume, infrared analysis data, etc.), so that an anti-hazard application can be faster and more targeted.

Referring again to the object-adaptive door and / or door opening control by means of the device 100 can be achieved with the described technique, a much higher degree of detection reliability than with conventional systems. By such a device 100 is also an additional security for escape route monitoring possible.

In a further embodiment, the sensitivity of the then designed as infrared cameras cameras 19 the image pickup device 72 concentrated or limited to the range of body heat sensors (ie, to a wavelength range around 10 microns, for example, between 7 microns and 14 microns). The radiation source used for these mechanisms 116 For example, it can be laser based. For example, with a CO ₂ laser in the typical emission range around 10 μm, an entire scene can be heated simultaneously (for example by means of an optical diffuser) by means of a heat pulse and, in particular, during the evaluation, the different cooling rates of the irradiated objects 102 , as well as in this frequency range (visible light) different transmission properties are evaluated.

In a detail 99 shows 1 the temporal (time t) synchronization of the pulse operation of the radiation source 116 (see pulse intensity P) with the activity cycle of the image recording device 72 (In periods of activity of the camera (s), the detection capability D is different from zero). Like detail 99 represents time intervals of the emission of infrared pulses and time intervals of the camera intensity coincide. Further detail shows 99 in that different pulses, which may be associated with different recorded images, may have a different intensity, thereby enabling contrast comparisons.

2 shows a part of a device 100 according to an exemplary embodiment of the invention. In the embodiment according to 2 becomes the three-dimensional sensor system of the device 100 as a stereometric (for example, with photogrammetric evaluation working) sensor system of the image pickup device 72 with a camera 19 and two lens systems.

2 Thus shows an embodiment in which the device 100 only with a camera 19 is provided with a camera optics doubling a detection path. The electronic effort to form the corresponding device 100 This can be kept very low.

A first detection path of the image pickup device 72 has a (in particular beam-splitting) first deflection mirror 71 , a first filter 73 and a first lens 75 on. A second detection path of the image recording device 72 has a (in particular fully reflecting) second deflection mirror 77 , a second filter 79 and a second lens 81 on. Due to this camera optics, two subregions of the (schematically illustrated) object to be monitored 102 using one and the same camera 19 be detected simultaneously. The two can recorded images temporally (Filter 73 . 79 can be designed as a controllable light switch, ie for a recording can (especially only) filter 73 be unlocked and for subsequent recording can (especially only) filter 79 be released) and / or locally (the beam paths of both lens systems can be on different areas of the photosensitive zone of the camera 19 be guided) are resolved differently.

3 shows an arrangement 150 with a device 100 to monitor an object 102 and the resulting control of closure bodies 106 according to an exemplary embodiment of the invention. Although this in 3 not shown, the device can 100 according to 3 each of the components having reference to 1 or 2 are described.

In the 3 illustrated arrangement 150 has an access structure shown only schematically 152 with one of an object shown only schematically 102 to be passed opening 104 on. The access structure 152 is a building in the embodiment shown. The object 102 For example, a person may want to enter the building by passing through the opening 104 passes. Alternatively, the object 102 for example, be an automobile through the opening 104 should drive through to the access structure 152 to enter. Several closing bodies 106 are for selective, partial or complete opening or closing of the opening 104 intended. In the embodiment shown, two horizontally movable sliding doors and a vertically movable roller shutter door as a closing body 106 intended. The closing bodies 106 can by means of a motor 160 (or other drive means) individually controlled by a controller 74 every single one of the closing bodies 106 can move to a defined position. Furthermore, forms a device described in more detail below 100 for controlling a coverage characteristic of the opening 104 through the closing body 106 while entering the building by the human part of the arrangement 150 ,

The device 100 is thus for controlling or regulating the coverage characteristic of the object 102 to gain access to the access structure 152 to be passed opening 104 through the closing body 106 educated. Depending on how far the closing body 106 the opening 104 Close is through the closing body 106 and the opening 104 limited by a passing area through which the object 102 into the interior of the access structure 152 can get. According to the described embodiment of the invention, this passage surface in terms of space and time depends on objective structural object properties or geometric object data, ie, shape, size and position of the object 102 , discontinued. In addition, the area of passage becomes dependent on situational circumstances concerning the scenario of entering the access structure 152 through the object 102 and controlled under consideration of energy efficiency criteria. The device 100 For example, it may be completely or partially computer-implemented. A component of the device 100 is a control device designed, for example, as one or more processors 74 which controls the coverage characteristic in the manner described below. The control device 74 is set up, the coverage characteristic is object-adaptive, ie dependent on characteristics or properties of the object 102 (For example, detectable by the recognizer 17 ), taking into account both geometric object data and one or more additional situation characteristics. During its operation, the control device 74 by reading and / or writing to a database 35 in which image data, geometric object dimensions, situation characteristics, learned data, peculiarities of a culture, etc. can be stored. Database 35 For example, it can be designed as an electronic mass storage device (for example as a hard disk).

Furthermore, the control device 74 for controlling the coverage characteristic (spatially and / or temporally) based on the geometric object data and the at least one additional situation characteristic such that, as a further criterion, an energy transfer between an exterior of the opening 104 and an interior of the opening 104 while opening to let the object pass 102 is kept as low as possible. An efficient and secure management of the transfer of objects 102 between an interior and an exterior of the access structure 152 through the opening 104 This can be combined with an energy-efficient mode of operation. For this purpose, the control device 74 for controlling the coverage characteristic, such that during passage of the object 102 the opening 104 from the at least one closing body 106 still partially covered. In particular, the passage opening can only be opened as far as is necessary in view of the geometric object dimensions and the situation characteristic (a) taking into account an energy balance.

As already stated, the geometric object data characterize a shape and / or a size as well as a position of the object 102 and can be detected by the recognizer 17 be determined. This can ensure that the Passing space is spatially large enough to give it to the object 102 to allow to pass through or pass through the passing area, without the closing body 106 or a boundary of the opening 104 through the building (or another access structure 152 ) to initiate. Furthermore, the passage area can be kept open over a sufficiently long period of time to ensure, depending on a current or maximum speed (for example, previously known or ascertained), that the object 102 within the opening period the access structure 152 can enter or drive through the passage. Photoelectric sensors or the like can be used for this purpose.

In the additional situation characteristic (a), for example, a currently prevailing temperature T1 within the opening 104 (ie inside the access structure 152 ) and / or a currently prevailing temperature T2 outside the opening 104 (ie outdoors). This can take into account the fact that the temperatures inside and outside the opening 104 , in particular a temperature difference between inside and outside, can have a significant influence on an undesirable energy loss caused by the temporary thermal coupling between inside and outside. The higher the temperature difference, the smaller and shorter should be the open passage area. Also, it has been found that at a very low temperature outside the opening 104 and a higher temperature inside the opening 104 human objects 104 have a greater inclination, even through a smaller passage surface into the interior of the access structure 152 enter.

In the case of the additional situation characteristic (a), as an alternative or in addition to, for example, a weather characteristic indicative of a current weather outside the opening 104 be taken into account. In particular, in the presence of rain and / or wind, it has been shown that the tendency of human objects 102 , even through a relatively small passage surface into the interior of the access structure 152 is more pronounced than in friendly weather.

In the case of the additional situation characteristic (a), as an alternative or in addition to, for example, a culture circle can be located at an installation location of the device 100 be taken into account. The control device 74 For example, this may be information regarding an installation location of the device 100 be transmitted. Local, country-specific or cultural features regarding the subjective perception of human objects 102 upon entering an access structure 152 can thus be taken into account when setting the coverage characteristic.

In the case of the additional situation characteristic (a), alternatively or additionally, an identity of the object may also be provided 102 be taken into account. In a human object 102 subjective feelings of a person can be taken into account, for example, when passing through a passing area requires a safety margin to unobtrusively the access structure 152 to enter. In the case of an object, for example an unmanned vehicle, on the other hand, the passage area can only be selected to be insignificantly larger than a cross-sectional area of the object. The same applies to the setting of an opening time of the passage surface, in the case of a human object 102 considering human sensations, should generally be set longer than with an objective object 102 ,

In the case of the additional situation characteristic (a), alternatively or additionally, for example, a clothing of a human object 102 be taken into account. Is (for example sensory) recognized that the human object 102 Winter clothing carries, the Passierfläche or Passierzeit can be set smaller than if the human object 102 Wearing summer clothes.

Also, alternatively or additionally, as an additional situation characteristic, a speed of the object 102 go into the control. This can in particular have an influence on the passing time, ie an opening time of the passage surface, since a faster object 102 the access structure 152 through the opening 104 traversing or passing faster than a slower object 102 , On the other hand, it may be appropriate for a faster object 102 to choose the pass area larger than with a slower object 102 to increase the speed by providing a greater safety distance to the closing body (s) 106 or a boundary of the opening 104 Take into account. This is especially true when the object 102 a human is or is controlled by a human.

The device 100 can be a user interface 112 for customizing at least part of the additional situation characteristics. Such a user interface 112 may include an input device (eg, a keyboard, a touch screen, a mouse, or a joystick) about the situation characteristics (for example, an installation location of the device 150 ) and the control device 74 as the basis for controlling the coverage characteristic. Furthermore, the user interface 112 a Have output device, on the (for example, control) information of an operator of the device 100 can be made accessible.

The device 100 can also perform a stereometric object recognition, according to 1 and or 2 can be designed and to recognize and three-dimensional characterization of an object 102 in a surrounding area of the opening 104 and configured to determine the geometric object data. In the embodiment shown, this function is performed by the two infrared cameras 19 as image capture devices 72 realized here on both sides of the two horizontally movable closing body 106 are attached to a space area in front of the opening 104 as completely as possible. Furthermore, at least one pulsed illumination source is used as the radiation source 116 provided that emit infrared pulses in the illustrated embodiment. With these infrared pulses can be used in combination with the infrared cameras 19 the object 102 in the entrance area of the opening 104 energy-efficient (due to non-permanent but only pulsed lighting) and independent of daylight (ie also at night). The image data acquired by the infrared cameras becomes the control device 74 and the recognizer 17 as the basis for determining the geometric object data of an object 102 and, optionally, identifying the object type (eg, human, automobile, etc.) for precisely controlling the coverage characteristic.

Advantageously, the device 100 also a collision detection device 120 have, for detecting an imminent collision of the object 102 with the access structure 152 around the opening 104 is set up and further configured to trigger a collision avoidance event upon detection of an imminent collision. The collision detection device 120 can also be supplied with data from the recognizer 17 be derived. In particular, the collision detection device 120 From corresponding location and / or speed data, an expected trajectory of the object 102 calculate and do this with a trajectory of the closing body 106 to compare. In this way, impending collisions can be predicted, and countermeasures can be taken to prevent such a collision before a collision occurs. For example, an alarm may be issued upon detection of an imminent collision. Alternatively or additionally, a control of the closing body 106 be adjusted so that the collision is prevented. Also can contact the object via a communication connection 102 (For example, an automatically controlled motor vehicle) are recorded so that the object 102 adjust its movement to prevent the impending collision.

With the in 3 shown device 100 is a reduction or even an optimization of energy consumption created by an intelligent gate control. A human, as an example of an object 102 , typically moves 6 m ^{3 of} air as it passes through a door. For heated or refrigerated rooms or buildings (or other access structure 152 ), it is therefore very energy relevant, how far and how long the corresponding closing body 106 (For example doors and / or gates) when passing an object 102 are opened to reduce the energy flow by a sufficiently small and / or short opening.

Investigations leading up to the development of an object-adaptive door and / or door opening control according to an embodiment of the invention have shown that people pass through an opening (completely or only partially opened) 104 Different perceptions have, how much larger the passage must be open than the own contour of humans, so that the human still feels well and does not tend to evasive movements or a portal only with (possibly unconscious) discomfort passes (or even avoids the passage). In particular, the change of opinion towards a failure to pass due to a discomfort in connection with the passage is a critical factor especially at the entrance of sales.

On the other hand, in terms of energy consumption reduction or optimization, the width and / or height of the closing bodies 106 free passage of the opening 104 kept low or minimized. This applies in a corresponding manner for the opening time of such a passage surface.

The device 100 according to 3 meets these two needs equally.

4 shows a sensor network 27 from (in the example shown two) communicably coupled devices 100 with the features described above for combinatorial monitoring of different areas 102 ' . 102 ' an object 102 according to an exemplary embodiment of the invention. Alternatively, it is also possible that the communicated coupled devices 100 different objects 102 monitor. In the 4 represented areas 102 ' . 102 ' may for example be different areas of a parking garage or a vehicle.

The several cameras 19 the image pickup device 72 a respective device 100 are according to 4 with each other and with their associated Erkenneinrichtung 17 over a communication network 25 communicatively coupled. This communication can take place, for example, via the public Internet, an intranet or a mobile radio network. Preferably, such communication is web-based and / or cloud-based. Advantageously, the communication network 25 with several other cameras 19 and / or another recognizer 17 another device 100 to analyze another object 102 or another area 102 ' , 102 "of a common object 102 be coupled communicatively. With the in 4 represented distributed sensor network, it is possible information about the object 102 or about the different areas 102 ' . 102 ' of the object 102 combinatorially merge.

In addition, it should be noted that "having" does not exclude other elements or steps, and "a" or "an" does not exclude a multitude. It should also be appreciated that features or steps described with reference to any of the above embodiments may also be used in combination with other features or steps of other embodiments described above. Reference signs in the claims are not to be considered as limiting.

QUOTES INCLUDE IN THE DESCRIPTION

This list of the documents listed by the applicant has been generated automatically and is included solely for the better information of the reader. The list is not part of the German patent or utility model application. The DPMA assumes no liability for any errors or omissions.

Cited non-patent literature

• ISO 1600 [0085]

Claims (27)

Contraption ( 100 ) for object flow interaction with respect to an object ( 102 ), the device ( 100 ) comprises: an image recording device ( 72 ), which is set up, at least two images of the object ( 102 ) from at least two different perspectives; a stereometric recognition device ( 17 ) configured to detect object flow interaction based on the at least two captured images and by stereometry. Contraption ( 100 ) according to claim 1, wherein the object flow interaction information is selected from a group consisting of object flow control information, object flow control information, and object flow monitoring information. Contraption ( 100 ) according to claim 1 or 2, wherein the recognition device ( 17 ) for recognizing the object ( 102 ) is set up by triangulation using three-dimensional photogrammetry. Contraption ( 100 ) according to one of claims 1 to 3, wherein the image recording device ( 72 ) at least one, in particular passive, camera ( 19 ) with a camera optics multiplying a detection path or a plurality of, in particular passive, cameras ( 19 ) having. Contraption ( 100 ) according to one of claims 1 to 4, wherein the device ( 100 ) is arranged to perform the object flow interaction without emitting directional and / or positional radiation. Contraption ( 100 ) according to one of claims 1 to 5, wherein: the device ( 100 ) further comprises an infrared-emitting pulsed electromagnetic radiation source ( 116 ), which is set up, the object ( 102 ) to illuminate with at least one infrared pulse; the image capture device ( 72 ) as an infrared-sensitive image recording device ( 72 ) is formed to at least partially during the illumination with the at least one infrared pulse, the at least two images of the object to be monitored ( 102 ). Contraption ( 100 ) according to one of claims 1 to 6, wherein the image recording device ( 72 ) is arranged to record the images in a wavelength range between 100 nm and 20 μm, in particular in a wavelength range between 100 nm and 10 μm. Contraption ( 100 ) according to one of claims 1 to 7, comprising a communication device ( 80 ) for communicating the object flow interaction information to a communication partner device ( 78 ) is trained. Contraption ( 100 ) according to one of claims 1 to 8, wherein a plurality of cameras ( 19 ) of the image recording device ( 72 ) with each other and / or with the recognition device ( 17 ) via a communication network ( 25 ), in particular web-based and / or cloud-based, are communicable coupled. Contraption ( 100 ) according to claim 9, wherein the communication network ( 25 ) with several other cameras ( 19 ) and / or another recognition device ( 17 ) for taking pictures of another object ( 102 ) or another object area ( 102 ' . 102 '' ) communicable to provide information about the object ( 102 ) and the other object ( 102 ) or the other object area ( 102 ' . 102 '' ) merge combinatorially. Contraption ( 100 ) according to one of claims 1 to 10, comprising a prediction device ( 29 ) for predicting future position information and / or future motion information regarding the object ( 102 ) is set up. Contraption ( 100 ) according to claim 11, wherein said predicting means ( 29 ) for communicating the predicted information to assist in determining the object flow interaction information to the recognizer ( 17 ) is set up. Contraption ( 100 ) according to one of claims 1 to 12, wherein the image recording device ( 72 ) at least one camera ( 19 ) with a photosensitivity of greater than 800 ISO. Contraption ( 100 ) according to one of claims 1 to 13, wherein the recognition device ( 17 ), from which by means of the image recording device ( 72 ) at least one three-dimensional image of the object ( 102 ) as the basis of recognizing the information concerning the object flow interaction. Contraption ( 100 ) according to one of claims 1 to 14, comprising an event triggering device ( 32 ) configured to trigger at least one predetermined event based on the information concerning the object flow interaction. Contraption ( 100 ) according to claim 15, wherein the at least one predetermined event is selected from a group consisting of: - triggering an alarm when the object ( 102 ) occupies a predetermined position and / or has a certain behavior pattern; The triggering of a predetermined action when a predetermined gesture of a human being as an object ( 102 ) has been detected; - the triggering of a counting event when the object ( 102 ) a border passes; The object-adaptive control of a coverage characteristic of one of the object ( 102 ) opening to be passed ( 104 ) by at least one closing body ( 106 ); Capturing object information on both sides of one of the object ( 102 ) opening to be passed ( 104 ); - identifying the object ( 102 ), in particular as a basis for a content of an object ( 102 ) to be transmitted communication message and / or as the basis for triggering an alarm. Contraption ( 100 ) according to one of claims 1 to 16, wherein the image recording device ( 72 ) by means of a camouflage device ( 31 ) is camouflaged. Contraption ( 100 ) according to one of claims 6 to 17, wherein the infrared-sensitive image recording device ( 72 ) is set up, within at least a limited interval, at least partially during the illumination with the at least one infrared pulse, the at least one image of the object to be monitored ( 102 ); and comprising a control device ( 74 ) used to control the radiation source ( 116 ) and the image recording device ( 72 ) is set up such that at least one pulse illumination period of the radiation source ( 116 ) and at least one activity period of the image recording device ( 72 ) are synchronized for imaging. Contraption ( 100 ) according to one of the claims 1 to 18, further arranged for controlling a coverage characteristic of one of the monitored object ( 102 ) opening to be passed ( 104 ) by at least one closing body ( 106 ), wherein the coverage characteristic is particularly object-adaptively controllable. Contraption ( 100 ) according to claim 19, wherein the coverage characteristic is controllable based on: geometric object data; and / or at least one additional situation characteristic. Contraption ( 100 ) according to claim 19 or 20, wherein the controlled coverage characteristic comprises at least one of a group consisting of one in an opening state for allowing the object to pass (FIG. 102 ) of the at least one closing body ( 106 ) free passage surface of the opening ( 104 ), and an opening time for passing the object ( 102 ) before a, in particular complete, reclosing of the opening ( 104 ) by the at least one closing body ( 106 ). Contraption ( 100 ) according to one of claims 1 to 21, wherein the stereometric recognition device ( 17 ) for recognizing at least one predetermined gesture of a human being as an object ( 102 ) is set up on at least one of the captured images and for triggering a predetermined event in response to the detected gesture. Arrangement ( 150 ), comprising: an access structure ( 152 ) with one of an object ( 102 ) opening to be passed ( 104 ); at least one closing body ( 106 ) for selectively at least partially opening or closing the opening ( 104 ); and a device ( 100 ) according to one of claims 1 to 22 for controlling a coverage characteristic of the opening ( 104 ) by the at least one closing body ( 106 ) based on the information concerning the object flow interaction. Arrangement ( 150 ) according to claim 23, wherein the access structure ( 106 ) is selected from a group consisting of a building, a room, a lane of a lane, a vehicle, a facility, a stockpile, a garage, and a hangar. Arrangement ( 150 ) according to claim 23 or 24, wherein the at least one closing body ( 106 ) is selected from a group consisting of at least one pivotable controllable closing body, at least one longitudinally movable controllable closing body, and at least one rollable controllable closing body. Arrangement ( 150 ) according to one of claims 23 to 25, wherein the at least one closure body ( 106 ) is selected from a group consisting of at least one horizontally movable closing body ( 106 ) and at least one vertically movable closing body. Method for object flow interaction with respect to an object ( 102 ), the method comprising: taking at least two images of the object ( 102 ) from at least two different perspectives; Recognizing information concerning the object flow interaction based on the at least two captured images and using stereometry.

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